Title :
PD control for global stabilization of an n-TORA system
Author :
Xin Xin;Yannian Liu;Jinglong Wu
Author_Institution :
Faculty of Computer Science and Systems Engineering, Okayama Prefectural University, 111 Kuboki, Soja, Okayama 719-1197, Japan
fDate :
7/1/2015 12:00:00 AM
Abstract :
This paper concerns a global stabilization problem for an n-TORA (Translational Oscillator with a Rotational Actuator) system which consists of n carts connected to the fixed walls and each other by n + 1 linear springs with each cart having an eccentric rotational proof-mass actuator moving in the horizontal plane. First, this paper derives the motion equation of the n-TORA system. Then, by using Lyapunov stability theory and physical properties of mechanical parameters of the n-TORA system, this paper proves that the global stabilization of the n-TORA system can be achieved by the PD control of the angle of the rotational proof-mass of each TORA. This paper presents numerical simulation results for the 2- and 3-TORA systems to validate the result of the global stabilization.
Keywords :
"PD control","Nickel","Springs","Actuators","Oscillators","Mathematical model","Lyapunov methods"
Conference_Titel :
Society of Instrument and Control Engineers of Japan (SICE), 2015 54th Annual Conference of the
DOI :
10.1109/SICE.2015.7285477